Форум РадиоКот

Код: Выделить всё

uint8_t EEMEM pwm1;
uint8_t EEMEM pwm2;

void init_pwm (void)
{

DDRD |= (1<<DDD6) ;
PORTD &=  ~(1<<PORTD6);

DDRB |= (1<<DDB1);
PORTB &=  ~ (1<<PORTB1);

TCCR0A=(1<<COM0A1) | (0<<COM0A0) | (0<<COM0B1) | (0<<COM0B0) | (1<<WGM01) | (1<<WGM00);
TCCR0B=(0<<WGM02) | (0<<CS02) | (0<<CS01) | (1<<CS00);
TCNT0=0x00;
OCR0A = eeprom_read_byte (&pwm1);
OCR0B=0x00;

TCCR1A=(1<<COM1A1) | (0<<COM1A0) | (0<<COM1B1) | (0<<COM1B0) | (0<<WGM11) | (1<<WGM10);
TCCR1B=(0<<ICNC1) | (0<<ICES1) | (0<<WGM13) | (1<<WGM12) | (0<<CS12) | (0<<CS11) | (1<<CS10);
TCNT1=0x00;
ICR1=0x00;
OCR1A = eeprom_read_byte (&pwm2);
OCR1B=0x00;
}


typedef struct soft_enc
{
	bool 						status;
	volatile uint8_t 		enc_state;
	volatile int8_t 		enc_data;
	volatile int8_t 		enc_last;
	volatile int8_t 		enc_new;
	volatile int8_t 		enc_diff;
	volatile uint8_t  		enc_pin;
} soft_enc;

soft_enc encoder1;
soft_enc encoder2;

#define encoder_init(a)  _encoder_init(&a)
void _encoder_init (soft_enc *_soft_enc)
{
DDRD &=  ~(_soft_enc -> enc_pin);

PORTD |=  (_soft_enc -> enc_pin);
}

uint8_t konvert (uint8_t data)
{
	switch (data)
	{
	case 0: return 0;
	case 1: return 1;
	case 2: return 2;
	case 3: return 3;	
	case 4: return 1;
	case 8: return 2;
	case 12: return 3;

	default:  return 0;
	}
}

#define encoder_scan(a)  _encoder_scan(&a)
void _encoder_scan (soft_enc *_soft_enc)	
{
uint8_t New;
   if (!_soft_enc -> status)
   {
		New = konvert (PIND & (_soft_enc -> enc_pin));			

	switch(_soft_enc -> enc_state)
	{
	case 2:
		{
		if(New == 3) _soft_enc -> enc_data++;
		if(New == 0) _soft_enc -> enc_data--; 
		break;
		}

	case 0:
		{
		if(New == 2) _soft_enc -> enc_data++;
		if(New == 1) _soft_enc -> enc_data--; 
		break;
		}
	case 1:
		{
		if(New == 0) _soft_enc -> enc_data++;
		if(New == 3) _soft_enc -> enc_data--; 
		break;
		}
	case 3:
		{
		if(New == 1) _soft_enc -> enc_data++;
		if(New == 2) _soft_enc -> enc_data--; 
		break;
		}
	}
_soft_enc -> enc_state = New;	
	}
}

#define KEY_NULL      0
#define KEY_1     1
#define KEY_2    2

#define THRESHOLD 20

volatile uint8_t pressedKey = 0;
volatile uint8_t comp = 0;

void skan_kn (void) 
{
uint8_t key;

  if ((PINC & (1<<PINC1))==0)    
    key = KEY_1;
  else if ((PINC & (1<<PINC2))==0)   
    key = KEY_2;
  else {
    key = KEY_NULL;
  }

  if (key) {
    if (comp == THRESHOLD) {
      comp = THRESHOLD + 10;
      pressedKey = key;
      return;
    }
    else if (comp <  (THRESHOLD+5)) comp++;
   
  }
  else comp=0;

}

uint8_t get_key(void)
{
  uint8_t key = pressedKey;
  pressedKey = KEY_NULL;
  return key;
}

void kn_init (void)
{

DDRC &=  ~((1<<DDC2) | (1<<DDC1) | (1<<DDC0));
PORTC |=  (1<<PORTC2) | (1<<PORTC1);
PORTC &=  ~(1<<PORTC0);

EICRA=(0<<ISC11) | (0<<ISC10) | (0<<ISC01) | (0<<ISC00);
EIMSK=(0<<INT1) | (0<<INT0);
PCICR=(0<<PCIE2) | (1<<PCIE1) | (0<<PCIE0);
PCMSK1=(0<<PCINT14) | (0<<PCINT13) | (0<<PCINT12) | (0<<PCINT11) | (0<<PCINT10) | (0<<PCINT9) | (1<<PCINT8);
PCIFR=(0<<PCIF2) | (1<<PCIF1) | (0<<PCIF0);

sei();
}


void init_timer2 (void)
{
ASSR=(0<<EXCLK) | (0<<AS2);
TCCR2A=(0<<COM2A1) | (0<<COM2A0) | (0<<COM2B1) | (0<<COM2B0) | (1<<WGM21) | (0<<WGM20);
TCCR2B=(0<<WGM22) | (1<<CS22) | (1<<CS21) | (1<<CS20);
TCNT2=0x00;
OCR2A=0xFF;
OCR2B=0x00;

TIMSK2=(0<<OCIE2B) | (1<<OCIE2A) | (0<<TOIE2);

sei();
}

ISR(TIMER2_COMPA_vect)
{
		encoder_scan(encoder1);
		encoder_scan(encoder2);
}

ISR(PCINT1_vect)
{
	if((PINC & (1<<(PINC0))) == 0)
	 {
		cli();
		eeprom_update_byte(&pwm1,OCR0A);
		eeprom_update_byte(&pwm2,OCR1A);	
		OCR0A = 0;
		OCR1A = 0;
		while (1) {};
	 }

}

#define enc_relative(a)  _enc_relative(&a)
int8_t _enc_relative(soft_enc *_soft_enc)
{
	_soft_enc -> enc_new =  _soft_enc -> enc_data / 4;		
	 _soft_enc -> enc_diff = (int8_t)(_soft_enc -> enc_new - _soft_enc -> enc_last);
	_soft_enc -> enc_last = _soft_enc -> enc_new;
	return _soft_enc -> enc_diff;
}


int main()
 { uint8_t as; int8_t tm;

	encoder1.enc_pin = (1<<PIND1) | (1<<PIND0);
	encoder2.enc_pin = (1<<PIND3) | (1<<PIND2);
	encoder_init(encoder1);
	encoder_init(encoder2);
	
	kn_init();

	init_pwm();

	init_timer2();

while (1)
      {	
		tm = enc_relative(encoder1);
		if(tm  > 0) { if(OCR0A != 254) OCR0A++; }
		if(tm  < 0) { if(OCR0A != 0) OCR0A--;  }

		tm = enc_relative(encoder2);
		if(tm > 0) { if(OCR1A != 254) OCR1A++;  }
		if(tm < 0) { if(OCR1A != 0) OCR1A--;  }		

		skan_kn();
		as = get_key();
		if (as == KEY_1)  encoder1.status = !encoder1.status;
		if (as == KEY_2)  encoder2.status = !encoder2.status;
      }
 }

Код: Выделить всё

void init_timer2 (void)
{
// Timer Period: 0,5 ms
ASSR=(0<<EXCLK) | (0<<AS2);
TCCR2A=(0<<COM2A1) | (0<<COM2A0) | (0<<COM2B1) | (0<<COM2B0) | (1<<WGM21) | (0<<WGM20);
TCCR2B=(0<<WGM22) | (0<<CS22) | (1<<CS21) | (1<<CS20);
TCNT2=0x00;
OCR2A=0xF9;
OCR2B=0x00;

// Timer/Counter 2 Interrupt(s) initialization
TIMSK2=(0<<OCIE2B) | (1<<OCIE2A) | (0<<TOIE2);

sei();
}

Код: Выделить всё

//функция опроса энкодера
           
               static unsigned char stateEnc;   
               unsigned char tmp;
               unsigned char currentState = 0;
 
               if ((PIN_Enc & (1<<Pin1_Enc))!= 0) {SetBit(currentState,0);}
               if ((PIN_Enc & (1<<Pin2_Enc))!= 0) {SetBit(currentState,1);}
 
               tmp = stateEnc;
               if (currentState == (tmp & b00000011)) return;
 
               tmp = (tmp<<2)|currentState;
               stateEnc = tmp;
 
               if (tmp == b11100001) data_enc--; 
               if (tmp == b11010010) data_enc++; 
return;